KR920018483A - 차량의 요잉운동량(tawing-momentum)검출장치와 검출방법, 그리고 그 검출장치를 이용한 차량의 운동제어장치 - Google Patents

차량의 요잉운동량(tawing-momentum)검출장치와 검출방법, 그리고 그 검출장치를 이용한 차량의 운동제어장치 Download PDF

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KR920018483A
KR920018483A KR1019920004130A KR920004130A KR920018483A KR 920018483 A KR920018483 A KR 920018483A KR 1019920004130 A KR1019920004130 A KR 1019920004130A KR 920004130 A KR920004130 A KR 920004130A KR 920018483 A KR920018483 A KR 920018483A
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vehicle
acceleration
vertical axis
acceleration sensors
existing
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KR1019920004130A
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KR100204408B1 (ko
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다쯔히꼬 몬지
시게루 호리코시
고우사꾸 시마다
하야토 스가와라
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가나이 쯔도무
가부시기가이샤 히다찌 세이사꾸쇼
이누이 도모지
히다찌 오토모티브 엔지니어링 가부시기가이샤
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/06—Sensor zero-point adjustment; Offset compensation
    • B60T2250/062—Sensor zero-point adjustment; Offset compensation loosing zero-point calibration of yaw rate sensors when travelling on banked roads or in case of temperature variations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • B60T2260/022—Rear-wheel steering; Four-wheel steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P2015/0805—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration
    • G01P2015/0822—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration for defining out-of-plane movement of the mass
    • G01P2015/0825—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration for defining out-of-plane movement of the mass for one single degree of freedom of movement of the mass
    • G01P2015/0828—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration for defining out-of-plane movement of the mass for one single degree of freedom of movement of the mass the mass being of the paddle type being suspended at one of its longitudinal ends

Abstract

내용 없음

Description

차량의 요잉운동량(TAWING-MOMENTUM)검출장치와 검출방법, 그리고 그 검출장치를 이용한 차량의 운동제어장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 요잉운동량 검출장치와 그 검출장치를 이용하는 차량의 운동제어장치의 개략구조를 나타내는 블록도,
제2도는 차량에 가속도 센서를 장착한 구조를 설명하는 차량의 평면도,
제3도는 차량의 운동제어장치 내의 제어 유니트 구조를 나타내는 회로도.

Claims (5)

  1. 차량의 무게 중심(23)을 통과하는 연직측에 수직으로 교차하는 평면내에 상기 연직축에 대하여 대칭인 위치에 배치된 복수의 가속도 센서서(GA, GB), 상기 복수의 가속도센서(GA, GB)로 부터의 출력을 기초로 상기 연직축 주위에 발생하는 상기 차량의 요잉 운동량을 산출하는 연산수단(8,22), 그리고 상기 차량의 소정 조건 하에서 구해진 기존의 가속도 값과 상기 복수의 가속도 센서의 상기 기존의 가속도 값 하에서의 상기 출력을 동일한 값으로 일치시키기 위한 특성 보정수단(20,21)을 구비하는 것을 특징으로 하는 차량의 요잉 운동량 검출장치.
  2. 제1항에 있어서, 상기 보정수단이, 상기 차량이 정차상태 하에서 가속도가 영점인 경우 구해진 상기 복수의 가속도 센서(GA, GB)로부터의 출력동일한 값으로 일치시키는 영점 보정수단(20), 그리고 상기 차량이 기존의 가속도를 발생하는 소정의 운전 상태 하에서 가속도가 상기 기존의 값인 경우 구해진 상기 복수의 가속도 센서(GA, GB)로 부터의 출력을 동일한 값으로 일치시키는 스팬 보정 수단(21)을 포함하는 것을 특징으로 하는 차량의 요잉 운동량 검출장치.
  3. 제2항에 있어서, 상기 복수의 가속도 센서(GA, GB)는 상기 연직축을 통과하는 상기 차량의 전후방향 중심선(L)에 대하여 서로 대칭인 위치에 배치된 2개의 가속도 센서를 포함하며, 상기 가속도 센서의 각각의 검출하는 가속도의 방향과 상기 중심선의 방향이 일치되는 상태로 또한 배치되는 것을 특징으로 하는 차량의 요잉 운동량 검출장치.
  4. 차량의 무게중심(23)을 통과하는 연직축에 수직으로 교차하는 평면내에 상기 연직축에 대하여 대칭인 위치에 배치된 복수의 가속도 센서(GA, GB)로 부터의 출력신호를 패칭하는 스텝(19), 상기 차량의 소정 조건하에서 구해진 기존의 가속도 값과 상기 복수의 가속도 센서의 상기 기존의 가속도 값하에서의 상기 출력신호를 동일한 값으로 일치시키는 스텝(20,21), 그리고 상기 복수의 가속도 센서(GA, GB)로 부터의 출력신호를 기초로 상기 연직축 주위에 발생하는 상기 차량의 요잉 운동량을 연산하는 스텝(22)을 구비하는 것을 특징으로 하는 차량의 요잉 운동량 검출방법.
  5. 차량의 무게중심(23)을 통과하는 연직축에 수직으로 교차하는 평면내에 상기 연직축에 대하여 대칭인 위치에 배치된 복수의 가속도 센서(GA, GB), 상기 복수의 가속도 센서(GA, GB)로 부터의 출력을 기초로 상기 연직축 주위에 발생하는 상기 차량의 요잉 운동량을 산출하는 연순수단(8,22), 상기 차량의 소정 조건하에서 구해진 기존의 가속도 값과 상기 복수의 가속도 센서의 상기 기존의 가속도 값 하에서의 상기 출력을 동일한 값으로 일치시키기 위한 특성 보정수단(20,21), 차량의 속도(Ⅴ)와, 운전자가 핸들을 조작하는 동안의 핸들의 조타각(Θ')을 기초로 목표 요잉운동량을 연산하는 산출수단(71,72,73), 그리고 상기 요잉운동량 연산수단에 의해 구해진 요잉운동량이 상기 목표 요잉운동량과 일치하는 조건하에서 상기 차량의 조타장치 그리고 제동장치를 조정하는 수단(10,11,12,13)을 구비하는 것을 특징으로 하는 차량의 운동제어장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019920004130A 1991-03-20 1992-03-13 차량의 요잉운동량 검출장치와 검출방법, 그리고 그 검출장치를 이용한 차량의 운동제어장치 KR100204408B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3056287A JPH05170120A (ja) 1991-03-20 1991-03-20 車両のヨー運動量検出装置及びその方法、並びにこれを利用した車両の運動制御装置
JP91-56287 1991-03-20

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KR920018483A true KR920018483A (ko) 1992-10-22
KR100204408B1 KR100204408B1 (ko) 1999-06-15

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US (1) US5369580A (ko)
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US5369580A (en) 1994-11-29
DE4208404A1 (de) 1992-09-24
DE4208404C2 (de) 1997-03-06

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